添加user

User/bsp/bsp.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define BSP_OK (0)
+#define BSP_ERR (-1)
+#define BSP_ERR_NULL (-2)
+#define BSP_ERR_INITED (-3)
+#define BSP_ERR_NO_DEV (-4)
+
+#define SIGNAL_BSP_USB_BUF_RECV (1u << 0)
+
+#ifdef __cplusplus
+}
+#endif

User/component/user_math.c

@@ -0,0 +1,12 @@
+// /*
+//   自定义的数学运算。
+// */
+
+// #include "user_math.h"
+// #include <stdint.h>
+
+
+// float Adc_to_Distance(uint16_t adc_data) {
+//     // return (float)((adc_data * 1000) / 4095);
+//     return (float)((adc_data * 1000) / 16000000.0f); // 使用浮点数进行计算
+// }

User/component/user_math.h

@@ -0,0 +1,20 @@
+// /*
+//   自定义的数学运算。
+// */
+
+// #pragma once
+
+
+// #include <math.h>
+// #include <stdint.h>
+
+// #ifndef M_PI
+// #define M_PI 3.14159265358979323846f
+// #endif
+
+// /**
+//  * @brief 用于计算ADC数据对应的距离（mm）
+//  * @param adc_data 
+//  * @return 
+//  */
+// float Adc_to_Distance(uint16_t adc_data);

User/task/init.c

@@ -0,0 +1,39 @@
+/*
+  初始化任务
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task\user_task.h"
+#include "device\can.h"
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief 初始化
+ *
+ * \param argument 未使用
+ */
+void Task_Init(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  osKernelLock(); // 锁定内核，防止任务切换
+
+  // 创建任务，确保任务创建成功
+  task_runtime.thread.disp = osThreadNew(Task_Disp, NULL, &attr_disp);
+  task_runtime.thread.can = osThreadNew(Task_Can, NULL, &attr_can);
+  task_runtime.thread.monitor = osThreadNew(Task_Monitor, NULL, &attr_monitor);
+  task_runtime.thread.pc = osThreadNew(Task_PC, NULL, &attr_pc);
+
+  //创建消息队列
+  task_runtime.msgq.can.feedback.sick = osMessageQueueNew(2u, sizeof(CAN_t), NULL);
+  task_runtime.msgq.pc = osMessageQueueNew(2u, sizeof(CAN_t), NULL);
+  
+  osKernelUnlock(); // 解锁内核
+  osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
+}
+

User/task/user_task.c

@@ -0,0 +1,34 @@
+#include "task/user_task.h"
+
+Task_Runtime_t task_runtime;
+
+// 定义任务属性
+const osThreadAttr_t attr_init = {
+    .name = "Task_Init",
+    .priority = osPriorityRealtime,
+    .stack_size = 256 * 4,
+};
+
+const osThreadAttr_t attr_can = {
+    .name = "Task_Can",
+    .priority = osPriorityRealtime,
+    .stack_size = 128 * 4,
+};
+
+const osThreadAttr_t attr_disp = {
+    .name = "Task_Disp",
+    .priority = osPriorityRealtime,
+    .stack_size = 1024 * 4,
+};
+
+const osThreadAttr_t attr_monitor = {
+    .name = "Task_Monitor",
+    .priority = osPriorityRealtime,
+    .stack_size = 128 * 4,
+};
+
+const osThreadAttr_t attr_pc = {
+    .name = "Task_PC",
+    .priority = osPriorityRealtime,
+    .stack_size = 128 * 4,
+};

User/task/user_task.h

@@ -0,0 +1,94 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <cmsis_os2.h>
+#include "FreeRTOS.h"
+#include "task.h"
+
+// 定义任务运行时结构体
+typedef struct {
+    /* 各任务，也可以叫做线程 */
+    struct {
+        osThreadId_t can; /* CAN任务 */
+        osThreadId_t disp; /* ADC任务 */
+        osThreadId_t pc; /* PC任务 */
+        osThreadId_t monitor; /* 监控任务 */
+    } thread;
+  
+    struct {
+        struct {
+            struct {
+              osMessageQueueId_t sick;
+            } output;
+            struct {
+              osMessageQueueId_t sick;
+            } feedback;
+          } can;
+
+        osMessageQueueId_t pc; /* PC消息队列 */
+    } msgq;
+  
+
+    struct {
+        uint32_t can; /* CAN使用 */
+        uint32_t disp; /* ADC使用 */
+        uint32_t pc; /* PC使用 */
+        uint32_t monitor; /* 监控使用 */
+    } heap_water_mark; /* heap使用 */
+
+    struct {
+        float can; /* CAN任务运行频率 */
+        float disp; /* ADC任务运行频率 */
+        float pc; /* PC任务运行频率 */
+        float monitor; /* 监控任务运行频率 */
+    } freq; /* 任务运行频率 */
+  
+    struct {
+        uint32_t can; /* CAN任务运行时间 */
+        uint32_t disp; /* ADC任务运行时间 */
+        uint32_t pc; /* PC任务运行时间 */
+        uint32_t monitor; /* 监控任务运行时间 */
+    } last_up_time; /* 任务最近运行时间 */
+  } Task_Runtime_t;
+  
+
+
+// 任务频率和初始化延时
+#define TASK_FREQ_CAN (100u)
+#define TASK_FREQ_DISP (1u)
+#define TASK_FREQ_MONITOR (1u)
+#define TASK_FREQ_PC (100u)
+
+
+#define TASK_INIT_DELAY_INFO (500u)
+
+// 任务句柄
+typedef struct {
+    osThreadId_t can;
+    osThreadId_t disp;
+    osThreadId_t monitor;
+    osThreadId_t pc;
+} Task_Handles_t;
+
+extern Task_Runtime_t task_runtime;
+
+
+extern const osThreadAttr_t attr_init;
+
+extern const osThreadAttr_t attr_can;
+extern const osThreadAttr_t attr_disp;
+extern const osThreadAttr_t attr_monitor;
+extern const osThreadAttr_t attr_pc;
+
+void Task_Init(void *argument);
+void Task_Can(void *argument);
+void Task_Disp(void *argument);
+void Task_Monitor(void *argument);
+void Task_PC(void *argument);
+
+#ifdef __cplusplus
+}
+#endif